Examples are disclosed that relate to methods and systems for classifying a surface type. One example provides a system comprising a wearable device comprising at least one force sensor, and a computing device having a processor and associated memory storing instructions executable by the processor. The instructions are executable by the processor to, during a training phase, receive training data including a plurality of training data pairs. Each training data pair includes force sensor training data received from the at least one force sensor, or from a simulation or observation, and a label indicating at least one of a plurality of defined surface types. An AI model is trained to predict a classified surface type based on run-time force sensor data. The run-time force sensor data is input into the trained AI model to thereby cause the AI model to output a predicted classification of a run-time surface type.

Examples are disclosed that relate to methods and systems for classifying a surface type. One example provides a system comprising a wearable device comprising at least one force sensor, and a computing device having a processor and associated memory storing instructions executable by the processor. The instructions are executable by the processor to, during a training phase, receive training data including a plurality of training data pairs. Each training data pair includes force sensor training data received from the at least one force sensor, or from a simulation or observation, and a label indicating at least one of a plurality of defined surface types. An AI model is trained to predict a classified surface type based on run-time force sensor data. The run-time force sensor data is input into the trained AI model to thereby cause the AI model to output a predicted classification of a run-time surface type.

The present invention discloses a six-dimensional force sensor with high sensitivity and low inter-dimensional coupling, including a clockwise or counterclockwise swastika-shaped beam, vertical beams, a rectangular outer frame, and strain gauges; the clockwise or counterclockwise swastika-shaped beam includes a cross-shaped transverse beam and four rectangular transverse beams; a center of the cross-shaped transverse beam is provided with several force application holes used for applying forces and moments; four tail ends of the cross-shaped transverse beam are each connected to one of the rectangular transverse beams to form a clockwise or counterclockwise swastika-shaped structure; a top end of a vertical beam is connected to a tail end of a corresponding rectangular transverse beam, and bottom ends of the vertical beams are connected to the rectangular outer frame; and there are a plurality of strain gauges to form six groups of Wheatstone bridges that are respectively used for measuring an X-direction force, a Y-direction force, a Z-direction force, an X-direction moment, a Y-direction moment, and a Z-direction moment. Strain gauges for measuring the forces are all pasted on the cross-shaped transverse beam, strain gauges for measuring the X-direction moment and the Y-direction moment are all pasted on the four rectangular transverse beams, and strain gauges for measuring the Z-direction moment are all pasted on the four vertical beams. According to the present invention, the structure is simple, and inter-dimensional coupling is low while high sensitivity is ensured.

The present invention discloses a six-dimensional force sensor with high sensitivity and low inter-dimensional coupling, including a clockwise or counterclockwise swastika-shaped beam, vertical beams, a rectangular outer frame, and strain gauges; the clockwise or counterclockwise swastika-shaped beam includes a cross-shaped transverse beam and four rectangular transverse beams; a center of the cross-shaped transverse beam is provided with several force application holes used for applying forces and moments; four tail ends of the cross-shaped transverse beam are each connected to one of the rectangular transverse beams to form a clockwise or counterclockwise swastika-shaped structure; a top end of a vertical beam is connected to a tail end of a corresponding rectangular transverse beam, and bottom ends of the vertical beams are connected to the rectangular outer frame; and there are a plurality of strain gauges to form six groups of Wheatstone bridges that are respectively used for measuring an X-direction force, a Y-direction force, a Z-direction force, an X-direction moment, a Y-direction moment, and a Z-direction moment. Strain gauges for measuring the forces are all pasted on the cross-shaped transverse beam, strain gauges for measuring the X-direction moment and the Y-direction moment are all pasted on the four rectangular transverse beams, and strain gauges for measuring the Z-direction moment are all pasted on the four vertical beams. According to the present invention, the structure is simple, and inter-dimensional coupling is low while high sensitivity is ensured.

The present invention provides a detection device for detecting a load and moment and capable of increasing the output by a strain gage. The detection device is provided with a characteristic sensor block. The sensor block includes a base having an axis extending in the direction of a load to be detected, a front side wall raised from the base at a position offset from the axis of the base, a rear side wall raised from the base at a position offset from the axis of the base in the direction opposite the front side wall, and an upper wall for connecting the upper end of the front side wall and the upper end of the rear side wall. The sensor block supports each strain gauge on the upper surface of the upper wall. The upper wall includes a center portion located at the center between the front side wall and the rear side wall, a first portion located between the center portion and the front side wall, and a second portion located between the center portion and the rear side wall. The first portion and the second portion, which support the strain gauges, have a smaller thickness than the center portion and are relatively easily deformed or strained.

A force measurement system that includes at least one force plate module is disclosed herein. The at least one force plate module has a plurality of force plate assemblies supported on a base component, each of the force plate assemblies includes a plate component having a top surface, the top surface of the plate component forming a force measurement surface for receiving at least one portion of a body of a subject; and at least one force transducer, the at least one force transducer configured to sense one or more measured quantities and output one or more signals that are representative of the one or more measured quantities, the plate component being supported on the at least one force transducer. The at least one force plate module is configured to be connected to one or more additional force plate modules so as to form a modular array of force plates.

The wireless capacitive load cell features a two-component strain member has a spring body and force transduction plate, which deforms when a load is applied to the structure. During loading, the force transduction plate moves the cantilever spring body out of a position of rest, which results in an indenter, located within the force transduction plate, contacting a capacitive transducer. The capacitive transducer converts deformation of the strain member into an electrical signal which is correlated to a specific load value. The microelectromechanical system that accompanies the capacitive transducer processes and prepares the signal for wireless transmission. The microelectromechanical system has a capacitive transducer, signal conditioner, microcontroller unit, and telemetry system. Additional embodiments of the wireless load cell may include acceleration and temperature sensors embedded within the microelectromechanical system. The spring body features hard stops to prevent excessive deformation which can be harmful to the capacitive transducer.

The wireless capacitive load cell features a two-component strain member has a spring body and force transduction plate, which deforms when a load is applied to the structure. During loading, the force transduction plate moves the cantilever spring body out of a position of rest, which results in an indenter, located within the force transduction plate, contacting a capacitive transducer. The capacitive transducer converts deformation of the strain member into an electrical signal which is correlated to a specific load value. The microelectromechanical system that accompanies the capacitive transducer processes and prepares the signal for wireless transmission. The microelectromechanical system has a capacitive transducer, signal conditioner, microcontroller unit, and telemetry system. Additional embodiments of the wireless load cell may include acceleration and temperature sensors embedded within the microelectromechanical system. The spring body features hard stops to prevent excessive deformation which can be harmful to the capacitive transducer.

A force measurement system is disclosed herein. The force measurement system includes a plurality of force measurement assemblies, at least some of the plurality of force measurement assemblies configured to be independently displaceable from other ones of the plurality of force measurement assemblies such that one or more particular ones of the plurality of force measurement assemblies that are disposed underneath a subject varies over time. Each of the plurality of force measurement assemblies includes a top surface for receiving at least one portion of the body of the subject; and at least one force transducer, the at least one force transducer configured to sense one or more measured quantities and output one or more signals that are representative of forces and/or moments being applied to the top surface of the force measurement assembly by the subject.

A sensor including a layer having viscoelastic properties, the layer comprising a void, the void filled with a fluid; and optionally, a more rigid sensing element embedded within the layer. When a force is applied to a surface of the sensor, the shape of the void changes, causing the electrical resistance of the fluid in the void to change. When included, the more rigid sensing element can bear upon the void to cause the electrical resistance of the fluid in the void to change. A direction and intensity of the force can be determined by measuring the change of the electrical resistance of different voids positioned about the sensing element. The layer can be an elastomer, preferably silicone rubber. The fluid can be a conductive liquid, preferably Eutectic Gallium Indium. The sensing element can be plastic and can have a “Joystick” shape. The voids can take the form of channels or microchannels having a predefined pattern and/or shape.